OPENTECHNICAL PUBLICATION
OT-2026-000000547

Method for controlling a mechatronic system

Published: 2026-09-15T19:03:03.767099Z
Permanent URL: https://opentechnical.org/p/OT-2026-000000547
Categories: Sensors, Controls & Machine Vision > Industrial Control

------------------------------------------------------------------------

ABSTRACT

A method for controlling a mechatronic system, based on a model for predicting
the behaviour of the mechatronic system and a cost function ensuring
compliance with constraints by the mechatronic system, with a view to
following path instructions to a prediction horizon, the method including
reformulating the constraints into barrier functions and integrating the
barrier functions into the cost function; and for each sampling period of a
sequence of sampling periods: obtaining the path instructions and at least one
measurement of the mechatronic system in a current state; determining
coefficients of a polynomial of order m using a Nelder-Mead method optimizing
the cost function based on the predicting model, this determining receiving as
input the path instructions and the at least one measurement of the
mechatronic system obtained; computing a command through evaluation of the
polynomial; and applying the command to the mechatronic system.

------------------------------------------------------------------------

OpenTechnical publication OT-2026-000000547
Published 2026-09-15T19:03:03.767099Z
https://opentechnical.org/p/OT-2026-000000547